Multi-axis tool for handling and positioning blade root members

Abstract

In a first aspect, a multi-axis tool for handling and positioning a blade root member at a blade root portion of a wind turbine blade is provided. The tool includes a first arm extending from a first arm proximal end to a first arm distal end. In addition, the tool includes a first arm support pivotally coupled to the proximal end of the first arm and a mounting frame configured to releasably connect to the blade root member. The tool further includes a connection assembly coupling the distal end of the first arm to the mounting frame. The connection assembly includes a connection joint for pivoting the mounting frame and a rotary connection rotatably coupling the distal end of the first arm with the mounting frame. The tool is configured to rotate and / or flip the blade root member when the blade root member is connected to the mounting frame. In another aspect, a method for handling and positioning a blade root member at a blade root portion of a wind turbine blade is provided.

Description

Technical Field

[0001] The present disclosure relates to a multi-axis tool for handling and positioning a blade root component at a blade root portion of a wind turbine blade, and a method for handling and positioning a blade root component at a blade root portion of a wind turbine blade. Background Art

[0002] Modern wind turbines are commonly used to supply electricity to an electrical grid. This type of wind turbine generally includes a rotor having a rotor hub and a plurality of blades. The rotor begins to rotate under the influence of the wind on the blades. The rotation of the rotor shaft drives the generator rotor either directly ("direct drive") or through the use of a gearbox. The gearbox (if present), generator and other systems are typically mounted in a nacelle on top of the wind turbine tower.

[0003] An auxiliary system generally provided on a wind turbine is a pitch system. A pitch system is employed for adapting the position of the wind turbine blades to changing wind conditions. A pitch system generally comprises a pitch bearing comprising an outer ring, an inner ring, and one or more rows of rolling elements between the two rings, the rolling elements allowing the two rings to rotate relative to each other.

[0004] The wind turbine blades may be attached at the inner ring or at the outer ring, while the hub is connected at the other of the rings. When the pitch system is actuated, the blades may perform a relative rotational movement with respect to the hub. Thus, the bearing inner ring may perform a rotational movement with respect to the bearing outer ring.

[0005] A wind turbine blade has a root portion for attachment to a rotor hub (via a pitch bearing) and a tip portion at the other end. The root portion of a wind turbine blade typically has a generally circular cross-section. Some other regions, such as the profile portion or airfoil portion furthest from the rotor hub, have a cross-section with an aerodynamic profile.

[0006] The blade root flange is generally connected to the root portion of the wind turbine blade. The blade root flange may strengthen the connection of the wind turbine blade to the pitch bearing and increase the stiffness of the root portion. A blade root structural reinforcement may also be provided in the blade root portion to further increase the structural resistance of the blade root portion. The blade root flange and the blade root structural reinforcement are usually made of steel. Therefore, the blade root flange and the blade root structural reinforcement are generally heavy and difficult to handle.

[0007] In recent years, there has been a trend to increase the size of wind turbine blades to capture more energy from the wind. Large wind turbines may generally involve large blade root flanges. The weight of these large blade root flanges is thus increased.

[0008] The blade root flange comprises a root side facing the blade root portion and a hub side facing the wind turbine hub. Mounting the blade root flange to the blade root portion involves positioning the root side towards the blade root portion. The wind turbine blade is positioned substantially horizontally to facilitate post-forming operations such as mounting the blade root flange to the blade root portion.

[0009] The blade root flange is generally shipped in a substantially horizontal position. Hence, handling and positioning the blade root flange at the blade root portion may comprise rotating the blade root flange from a substantially horizontal position to a substantially vertical position to mount the blade root flange to the wind turbine blade in a horizontal position.

[0010] Generally, a bridge crane is used to suspend the blade root flange and move the blade root flange towards the blade root portion. However, the use of a bridge crane may bring safety hazards. For example, the bridge crane may fail or the suspended load may fall. This may lead to serious injuries and losses. For this reason, workers are usually prohibited from working under the suspended load. In addition, it may be difficult to adjust the position of the blade root portion using a bridge crane. Therefore, installing the blade root flange may involve a considerable amount of time.

[0011] The present disclosure provides examples of tools and methods that at least partially address some of the above-mentioned shortcomings. Summary of the invention

[0012] In a first aspect, a multi-axis tool for handling and positioning a blade root component at a blade root portion of a wind turbine blade is provided.

[0013] The tool includes a first arm extending from a first arm proximal end to a first arm distal end along a first arm direction. In addition, the tool includes a first arm support pivotally coupled to the first arm proximal end. The first arm is configured to pivot around a first direction by a first angle. The first direction is substantially perpendicular to the first arm direction.

[0014] The tool further includes a mounting frame configured to be releasably connected to the blade root member. The mounting frame extends a first mounting frame length in a first mounting frame direction and a second mounting frame length in a second mounting frame direction.

[0015] In addition, the tool includes a connection assembly that connects the distal end of the first arm to the mounting frame. The connection assembly includes a connection joint for pivoting the mounting frame about a second direction relative to the first arm by a second angle, and a rotation connection that rotatably connects the distal end of the first arm to the mounting frame. The mounting frame is configured to rotate about a third direction. The second direction is substantially parallel to the first direction. The third direction is substantially perpendicular to the first mounting frame direction and the second mounting frame direction. In addition, the tool is configured to flip and / or rotate the blade root member when the blade root member is connected to the mounting frame.

[0016] According to this aspect, the blade root member can be handled and positioned at the blade root portion without using a bridge crane. Thus, working under suspended loads can be reduced or even avoided. Thus, the risk of accidents can be minimized. Furthermore, the wind turbine manufacturing time can also be shortened.

[0017] In addition, the tool allows turning over the blade root member when the blade root member is stored with the root side facing upwards. The tool allows rotating the blade root member by 180° to position the root side of the blade root member facing the blade root portion and to position the hub side of the blade root member facing the rotor hub (when connected to the rotor hub). This allows turning over the blade root member before guiding the blade root member towards the blade root portion. Using the tool of the present disclosure allows rotating the blade root member to correctly position the blade root member at the blade root portion while improving safety. Thus, the tool can be used to position a blade root member received with the root side facing upwards and the hub side facing downwards in a simple manner.

[0018] The mounting frame also improves the connection of the tool to the blade root member. The mounting frame can be adapted to the shape of the blade root member. Thus a better load distribution is achieved.

[0019] In another aspect, a method for handling and positioning a blade root member at a blade root portion of a wind turbine blade is provided. The method includes releasably connecting the blade root member to a mounting frame of a multi-axis tool, and pivoting the mounting frame about a second direction relative to a first arm of the tool by a connection joint angle. Additionally, the method includes pivoting the first arm about a first direction relative to a first arm support of the tool by a first angle. The method further includes rotating the mounting frame about a third direction by a third angle. The third direction is substantially parallel to the first direction, and the first direction is substantially parallel to the second direction.

[0020] A multi-axis tool according to any of the examples herein may be used in a method of handling and positioning a blade root component at a blade root portion of a wind turbine blade.

[0021] The advantages obtained from this aspect may be similar to those mentioned with respect to the previous aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Non-limiting examples of the present disclosure will be described below with reference to the accompanying drawings, in which: Figure 1 shows a perspective view of a wind turbine according to one example; Figure 2 shows a simplified interior view of a nacelle of a wind turbine according to one example; Figure 3 shows a perspective view of a wind turbine blade according to one example; Figure 4a schematically illustrates an isometric view of a multi-axis tool for handling and positioning a blade root component at a blade root portion of a wind turbine blade according to an example of the present disclosure; Figure 4b Shows Figure 4a A side view of a multi-axis tool 100; Figure 5a schematically illustrates a side view of an example of a multi-axis tool in an installed position according to an example of the present disclosure; Figure 5b Schematically shows Figure 5a A front view of an example of a multi-axis tool; Figure 5c Schematically shows the connected position Figure 5a A side view of a multi-axis tool; Figure 6 An isometric view of an example of a multi-axis tool according to an example of the present disclosure is shown; Figure 7 An example of an adjustment mechanism according to an example of the present disclosure is shown; Figure 8 is a block diagram of a method for handling and positioning a blade root component at a blade root portion of a wind turbine blade according to an example of the present disclosure. DETAILED DESCRIPTION

[0023] In these drawings, the same reference symbols are used to denote the same elements.

[0024] Figure 1A perspective view of an example of a wind turbine 1 is shown. As shown, the wind turbine 1 includes a tower 2 extending from a supporting surface 3, a nacelle 4 mounted on the tower 2, and a rotor 5 coupled to the nacelle 4. The rotor 5 includes a rotatable hub 6 and at least one wind turbine blade 7 coupled to the rotor hub 6 and extending outwardly from the rotor hub 6. For example, in the example shown, the rotor 5 includes three wind turbine blades 7. However, in alternative embodiments, the rotor 5 may include more or less than three blades 7. Each wind turbine blade 7 may be spaced apart from the rotor hub 6 to facilitate rotation of the rotor 5 so that the kinetic energy of the wind can be converted into usable mechanical energy and subsequently into electrical energy. For example, the rotor hub 6 may be rotatably coupled to a generator 10 ( 100 kW) positioned within or forming part of the nacelle 4. Figure 2 ), to allow the generation of electrical energy.

[0025] Figure 2 Shows Figure 1 1 is a simplified internal view of an example of a nacelle 4 of a wind turbine 1. As shown, a generator 10 may be disposed within the nacelle 4. Generally, the generator 10 may be coupled to the rotor 5 of the wind turbine 1 to generate electricity using rotational energy generated by the rotor 5. For example, the rotor 5 may include a main rotor shaft 8 coupled to a hub 6 for rotation therewith. The generator 10 may then be coupled to the rotor shaft 8 such that rotation of the rotor shaft 8 drives the generator 10. For example, in this figure, the generator 10 includes a generator shaft 11 rotatably coupled to the rotor shaft 8 through a gearbox 9. In other examples, the generator may be directly coupled to the rotor hub or the rotor shaft.

[0026] It should be appreciated that the rotor shaft 8 , gearbox 9 and generator 10 may generally be supported within the nacelle 4 by a bedplate or support frame 12 positioned at the top of the tower 2 .

[0027] The nacelle 4 is rotatably coupled to the tower 2 via a yaw system 20. The yaw system includes a yaw bearing (at Figure 2 1 and 2. The yaw bearing 20 is a yaw bearing having two bearing members configured to rotate relative to each other (not visible in FIG. 1 ). The tower 2 is coupled to one of the bearing members, and the bedplate or support frame 12 of the nacelle 4 is coupled to the other bearing member. The yaw system 20 includes a yaw ring gear 21 and a plurality of yaw drives 22 having a motor, a gearbox and pinions for meshing with the ring gear to rotate one of the bearing members relative to the other bearing member.

[0028] The blade 7 is coupled to the rotor hub 6 using a pitch bearing 31 located between the blade 7 and the rotor hub 6. The pitch bearing 31 comprises an inner ring and an outer ring (shown). The wind turbine blade can be attached to the inner bearing ring or the outer bearing ring, while the hub is connected to the other. When the pitch system 30 is actuated, the blade 7 can perform a relative rotational movement relative to the rotor hub 6. Thus, the inner bearing ring can perform a rotational movement relative to the outer bearing ring. Figure 2 The pitch system 30 comprises a pinion gear 32 which meshes with a pitch ring gear 33 provided on an inner bearing ring to rotate the wind turbine blades.

[0029] Figure 3 An example of a wind turbine blade is shown. The wind turbine blade 7 extends in a longitudinal direction from a blade root end 71 to a blade tip end 72. The blade 7 comprises a blade root region or portion 50 closest to the rotor hub, a profile portion or airfoil portion 52 farthest from the rotor hub, and a transition portion 51 between the blade root portion 50 and the airfoil portion 52. The blade 7 comprises a leading edge 53 facing the direction of rotation of the blade 7 when mounted on the rotor hub, and a trailing edge 54 facing in the opposite direction of the leading edge 53.

[0030] In the example disclosed herein, the length of the wind turbine blade 7 from the blade root end 71 to the blade tip end 72 is more than 80 meters, for example more than 100 meters. However, wind turbine blades 7 of any length may be used.

[0031] The airfoil portion 52 has a shape designed to generate lift, while the blade root portion 50 has a circular or elliptical cross section for structural considerations and to facilitate mounting the blade to the rotor hub. The diameter or chord of the blade root portion 50 may be constant along the entire blade root portion 50. At the transition portion 51, the profile gradually changes from the circular or elliptical cross section of the blade root portion 50 to the airfoil profile of the airfoil portion 52.

[0032] The wind turbine blade 7 comprises a blade shell 73. The blade shell may comprise two blade shell parts, such as a pressure side blade shell and a suction side blade shell. The pressure side blade shell may be connected (e.g. glued or bonded) to the suction side blade shell along a joining line (which is along the leading edge 53 and the trailing edge 54). The blade shell 73 comprises an outer side or outer surface defining the outer shape of the blade (e.g. the outer shape at the root portion of the blade and the outer shape at the airfoil portion). The blade shell 73 also comprises an inner side or inner surface (not shown) defining the inner volume of the blade and facing the load-bearing structure. The blade shell 73 may be made of a fiber reinforced polymer (e.g. glass fiber and / or carbon fiber).

[0033] The blade root portion 50 comprises a blade root attachment portion 55 configured to attach the blade root portion to the rotor hub. The blade root attachment portion may comprise a plurality of fastening components distributed along the root end. A blade root member may be mounted at the blade root portion 50 .

[0034] The blade root flange may be an example of a blade root member. The blade root flange may be connected to the blade shell 73 at the blade root attachment portion 55 to face the first bearing member. Other examples of blade root members are blade root reinforcements. The blade root reinforcement may be a blade root reinforcement plate or a blade root reinforcement ring, which is arranged at the blade root attachment portion 55 to increase the structural resistance of the blade root portion 50. The blade root flange and the blade root reinforcement may be made of metal, for example, steel.

[0035] A diaphragm may also be an example of a blade root component. A diaphragm may be used to substantially seal the blade root portion 50 and, in some cases, to provide a working platform at the blade root end 71. The diaphragm may be made of a fiber reinforced polymer, such as fiberglass and / or carbon fiber.

[0036] Figure 4a Schematically illustrated is an isometric view of a multi-axis tool 100 for handling and positioning a blade root component at a blade root portion of a wind turbine blade according to an example of the present disclosure. Figure 4b Shows Figure 4a 1 is a side view of a multi-axis tool 100 .

[0037] The multi-axis tool 100 includes a first arm 110 extending between a first arm proximal end 111 and a first arm distal end 112 along a first arm direction 310. The first arm proximal end 111 is pivotally coupled to a first arm support 120. A hinge 130 pivotally couples the first arm 110 to the first arm support 120. The first arm 110 can pivot around a first direction 330 by a first angle. The first direction 330 is substantially perpendicular to the first arm direction 310. Rotation of the first arm 110 around the first direction 330 causes upward and downward movement of the first arm distal end 112.

[0038] The multi-axis tool 100 further includes a mounting frame 140 configured to be releasably connected to a blade root component (not shown in these figures). Examples of blade root components may be a diaphragm, a blade root flange, and / or a blade root reinforcement. The mounting frame 140 may include connectors, such as clamps and / or fasteners, to non-permanently hold a blade root component, such as a blade root flange. In some examples, the connectors may be remotely operated, such as hydraulic clamps. In some examples, the connectors may be manually operated, such as manual clamps and / or fasteners. Depending on the blade root component, different connectors may be used. For example, a vacuum suction cup may be used to handle the diaphragm.

[0039] The mounting frame 140 in these figures extends a first mounting frame length 141 along a first mounting frame direction 341 and extends a second mounting frame length 142 along a second mounting frame direction 342. The first mounting frame direction 341 of this example is substantially perpendicular to the second mounting frame direction 342. The mounting frame 140 in these figures is substantially rectangular. In other examples, the mounting frame may have any other suitable shape to be connected to the blade root member. For example, the mounting frame may be circular or oval.

[0040] The mounting frame 140 may include one or more tracks extending in a direction parallel to the first mounting frame direction 341. Additionally or alternatively, the mounting frame 140 may include one or more tracks parallel to the second mounting frame direction 342. The length of the first track may be adjustable. For example, some of the tracks may be telescopic tracks. Connectors for releasably connecting to a blade root member may be provided on the first track and / or the second track (e.g., at the ends of the tracks). The shape of the mounting frame 140 may thus be adapted to the shape of the blade root member. For example, the same multi-axis tool 100 may be used to install a blade root flange at blades having different sizes (e.g., different blade root diameters).

[0041] In addition, the multi-axis tool 100 includes a connection assembly 150 that couples the first arm distal end 112 to the mounting frame 140. The connection assembly 150 includes a connection joint 160 and a rotational connection 170. The connection joint 160 allows the mounting frame 140 to pivot relative to the first arm 110 about a second direction 360 by a second angle. The second direction 360 is substantially parallel to the first direction 330. In this example, the second direction 360 is also substantially parallel to the first mounting frame direction 341. Rotation of the mounting frame 140 about the second direction 360 causes upward and downward movement of the mounting frame 140. The connection joint 160 can be a hinge or a plurality of hinges.

[0042] In some examples, the second angle may be between 0° and 180°, i.e., the mounting frame 140 may be rotated at an angle between 0° and 180°. In these examples, the mounting frame 140 may thus pivot ±90° relative to the first arm 110. In some examples, the mounting frame 140 may pivot between ±80° and ±90°.

[0043] The combination of the rotation of the mounting frame 140 about the second direction 360 and the rotation of the first arm 110 about the first direction 330 allows the tool 100 to rotate and / or flip the blade root component when the blade root component is connected to the mounting frame 140. Flipping the blade root component may include rotating 180° about the component rotation direction. The component rotation direction is substantially parallel to the second direction 360. Thus, the blade root component can be moved from a storage position toward the blade root portion and handled during assembly with the blade root portion.

[0044] The swivel connection 170 of the connection assembly 150 rotatably couples the first arm distal end 112 with the mounting frame 140. The mounting frame 140 is rotatable about a third direction 370. The third direction 370 is substantially perpendicular to the first mounting frame direction 341 and the second mounting frame direction 342.

[0045] In some examples, the mounting frame 140 may be rotated about the third direction 370 by an angle between 0° and 360°. Thus, the blade root component may be rotated between 0° and 360°. For example, when the blade root component is a blade root flange, the blade root flange may be rotated about the center of the blade root flange.

[0046] The rotating connection 170 may be a bearing. In some examples, the rotating connection 170 includes a first rotating member associated with the connection joint 160 and a second rotating member associated with the mounting frame 140. The first rotating member is configured to rotate relative to the second rotating member. The mounting frame 140 (and thus the blade root member when connected to the mounting frame) can rotate about the third direction 370.

[0047] The first arm support 120 of this example may be supported by the ground, or by a base. The multi-axis 100 of this example includes at least three degrees of freedom: rotation about a first direction 330 , rotation about a second direction 360 , and rotation about a third direction 370 .

[0048] In some examples, the first arm support 120 may be fixedly connected to the base. In other examples, the first arm support may be movable relative to the base. In some examples, the base includes a platform and support legs. In some examples, the base is configured to be moved by a transport unit. The transport unit may be a self-propelled modular transport vehicle or a forklift. Since the base can be moved by the transport unit, the tools can be stored without interfering with the manufacturing process of the wind turbine blades and moved toward the manufacturing process area when needed. This can allow for increased efficiency in the manufacturing of wind turbine blades.

[0049] In some examples, the connection assembly 150 includes an adjustment mechanism to adjust the position of the mounting frame relative to the first arm. The adjustment mechanism can adjust the position of the mounting frame about a first adjustment direction that is substantially parallel to the first mounting frame direction 341. Additionally or alternatively, the position of the mounting frame can be adjusted about a second adjustment direction that is substantially parallel to the second mounting frame direction 342. The mounting frame 140 can be rotated about the first adjustment direction and / or the second adjustment direction. The mounting frame can thus be offset relative to the connection joint 160. The rotation of the mounting frame about the first adjustment direction and / or the second adjustment direction can be between ±5°.

[0050] The adjustment mechanism enhances the positioning of the blade root member at the blade root portion. The adjustment mechanism may include a deformable element configured to absorb or adjust misalignment between the blade root member and the blade root portion. Thus, the position accuracy of the blade root member at the blade root portion may be improved. The deformable element may be passive. For example, the deformable element may be deformed by the action of pressing the blade root member against the blade root portion. Thus, the blade root member may be passively aligned.

[0051] In some examples, one or more deformable elements are disposed between the rotational connection 170 and the mounting frame 140 .

[0052] The tool 100 may include an actuator to cause movement of the first arm 110 and / or the mounting frame 140. The actuator may be a hydraulic actuator.

[0053] In some examples, the tool includes a power supply system for powering the tool. Therefore, the actuator that moves the first arm 110 and / or the mounting frame 140 can be powered by the power supply system. In some examples, the power supply system can be configured to be connected to a power grid.

[0054] In other examples, the energy supply system may be autonomous. Thus, the tool may be powered independently of the power grid. In these examples, the energy supply system includes an independent power source, such as a battery.

[0055] The multi-axis tool of these examples may include a controller to control the operation of the multi-axis tool. For example, the controller may operate the energy supply system to activate an actuator that moves the first arm 110 and / or the mounting frame 140. In some examples, the controller may remotely operate the energy supply system. The controller may communicate wirelessly with the energy supply system.

[0056] Figure 5a and 5bA side view and a front view of an example of a multi-axis tool 100 in an installation position according to an example of the present disclosure are shown, respectively. When the tool 100 carries a blade root component 200 in the installation position, the blade root component 200 can be attached to the blade root portion. In this position, the root side 201 of the blade root component 200 faces the blade root portion. The blade root component 200 can be installed in the blade root portion at the installation position.

[0057] Figure 5c Shown in connected position Figure 5a and 5b 1. A blade root member 200 arranged in a horizontal position may be connected to the mounting frame 140 when the multi-axis tool is in the connection position. The mounting frame 140 is connected to the hub side 202 of the blade root member 200. The root side 201 is opposite to the hub side 202. In this example, the blade root member 200 is stored with the root side 201 facing the ground. However, in other examples, the blade root member 200 may be stored with the hub side 202 facing the ground.

[0058] The first arm 110 , the mounting frame 140 , and the connection assembly 150 of these figures may be according to any of the examples disclosed herein.

[0059] In these figures, a blade root member 200 is releasably connected to the mounting frame 140. The blade root member 200 in these figures includes an assembly of a mounting flange 210 and a reinforcement plate 220. The reinforcement plate 220 is connected to the mounting flange 210 to increase the radial stiffness of the blade root portion. The blade root member 200 of these figures is made of steel. The blade root member 200 of this example may include a diameter between 4 meters and 6 meters, and may weigh between 5 tons and 8 tons. The tool 100 may also be used to carry and position blade root members of any suitable size and weight.

[0060] In this example, the mounting frame 140 includes a plurality of connectors 148 that releasably connect the reinforcement plate 220 to the mounting frame 140. The connectors 148 may be fasteners that are inserted into mounting holes disposed at the reinforcement plate 220.

[0061] The connection assembly 150 in these figures includes a connection joint 160 that rotatably connects the first arm 110 to a first rotating member 175 of a rotating connection 170. The rotating connection 170 includes a second rotating member 176 that is configured to rotate relative to the first rotating member 175 about a third direction 370. The second rotating member 176 is associated with the mounting frame 140.

[0062] In these figures, the connection assembly 150 further includes an adjustment mechanism 180. The adjustment mechanism 180 is configured to adjust the position of the mounting frame 140 relative to the rotating connection 170. The adjustment mechanism 180 is disposed between the rotating connection 170 and the mounting frame 140. The adjustment mechanism 180 can adjust the position of the mounting frame 140 relative to the first arm 110 about a first adjustment direction 381 and / or a second adjustment direction 382. The first adjustment direction 381 is substantially parallel to the first mounting frame direction 341, and the second adjustment direction 382 is substantially parallel to the second mounting frame direction 342.

[0063] The adjustment mechanism 180 in these figures includes one or more deformable elements 181 disposed between the rotating connection 170 and the mounting frame 140. In addition, the adjustment mechanism 180 of this example includes an adjustment plate 182 rigidly connected to the rotating connection 170 (e.g., the second rotating member 176). The adjustment plate 182 in these figures is movably connected to the mounting frame 140. The deformable element 181 movably connects the adjustment plate 182 to the mounting frame 140.

[0064] These one or more deformable elements 181 are configured to deform under a predetermined pressure in a manner such that the position of the mounting frame 140 is adjusted relative to the adjustment plate 182. The deformable elements 181 are compressed under a force above a predetermined value. The blade root member 200 (e.g., an assembly of the mounting flange 210 and the reinforcement plate 220) may be positioned to rest on the blade root portion. The blade root member 200 may apply pressure to the blade root portion. Pressing the blade root member 200 against the blade root portion may generate a reaction pressure on the mounting frame 140. This reaction pressure on the mounting frame 140 may cause deformation of the one or more deformable elements. The deformation of each of the deformable elements depends on the misalignment between the blade root member and the blade root portion.

[0065] In this example, the adjustment mechanism 180 includes four deformable elements 181. Deformation of each of the deformable elements 181 causes the mounting frame 140 to pivot about a first adjustment direction 381 and about a second adjustment direction 382. The first adjustment direction 381 intersects the second adjustment direction 382 at a third direction 370. In this example, each of the deformable elements 181 is arranged at a different quarter of a plane defined between the first adjustment direction 381 and the second adjustment direction 382. The rotation of the mounting frame about the first adjustment direction 381 and / or the second adjustment direction 382 may be between ±5°.

[0066] The connection joint 160 of this example includes a rod extending from a left side 165 to a right side 166 in a second direction 360. The left side 165 and the right side 166 extend from the blade root member 200. The left side 165 of the connection joint 160 includes a hinge connected to the left rod 115 of the first arm 110. The right side 166 of the connection joint 160 is connected to the right side 166 of the connection joint 160 by a hinge.

[0067] In this example, the mounting frame 140 can rotate at least 180° around the second direction 360. For example, the multi-axis tool 100 of this example allows positioning and handling of a blade root member 200 stored with the root side 201 facing downward at a blade root portion in a single operation. Therefore, when the blade root member 200 is turned over, an operation of disconnecting and reconnecting the blade root member 200 to the mounting frame 140 is not required.

[0068] The first arm 110 may include a plurality of parallel rods. In this example, the first arm 110 includes a first arm left rod 115 and a first arm right rod 116. These rods extend along the first arm direction.

[0069] The first arm support 120 is rotatably connected to the first arm 110 about a first direction. The first arm support 120 may include a plurality of sleeves. In this example, the first arm support 120 includes a left sleeve 125 and a right sleeve 126. The left sleeve 125 is pivotally connected to the left rod 115 of the first arm 110, and the right sleeve 126 is pivotally connected to the right rod 116 of the first arm 110.

[0070] The tool 100 in these figures further includes a base 230 and one or more columns 240 extending from the base 230. The first arm support 120 can be slidably connected to the one or more columns 240 so that the first arm support 120 is configured to move upward and downward relative to the base 230. In this example, the tool 100 includes a pair of front columns and a pair of rear columns. The left sleeve 125 of the first arm support is slidably connected to the left rear column 245, and the right sleeve 126 is slidably connected to the right rear column 246. Therefore, the sleeves can be guided by the rear column. Thus, the left sleeve 125 and the right sleeve 126 can move upward and downward relative to the base 230 and relative to the ground. In this example, the front column can also be used to guide the movement of the left rod 115 and the right rod 116 of the first arm 110.

[0071] The tool 100 in these figures is configured to move in approximately four degrees of freedom. Figure 4a-4b In addition to the three degrees of freedom of the embodiment, the first arm support 120 can also be lifted and lowered in the vertical direction. Therefore, the positioning accuracy of the blade root member 200 can be improved.

[0072] The base 230 in these figures includes a platform and a plurality of support legs that rest on the ground. The platform can be configured to be raised and lowered to allow the tool 100 to be transported. In some examples, the support legs can be retracted for transporting the base 230 (and thus the entire tool 100) using a transport unit 250. In some examples, the transport unit 250 can raise and lower the base 230. The transport unit 250 of this example is a self-propelled modular transport. When the blade root member is assembled with the blade root section, the self-propelled modular transport can be used to transport the multi-axis tool 100 from a storage area to a manufacturing plant area.

[0073] The platform may include a dedicated area to arrange counterweights to offset the weight of the blade root member.

[0074] Figure 6 An isometric view of an example of a multi-axis tool 100 according to an example of the present disclosure is shown.

[0075] The mounting frame 140 of the figure extends a first mounting frame length 141 along a first mounting frame direction 341, and extends a second mounting frame length 142 along a second mounting frame direction 342. In this example, the mounting frame includes an upper mounting frame rod 143 and a lower mounting frame rod 144 extending in a direction parallel to the first mounting frame direction 341. In the figure, the upper rod 143 and the lower rod 144 are telescopic. Therefore, the first mounting frame length 141 of this example can be changed to adapt to the shape of the blade root member. The ends of the upper rod 143 and the lower rod 144 include connectors to connect to the blade root member (not shown in the figure). In the figure, each connector includes a bracket having a hole. A fastener can be inserted through the hole to fix the blade root connector to the mounting frame 140.

[0076] In the figure, the upper rod 143 is connected to the lower rod 144 through the mounting frame left rod 145 and the mounting frame right rod 146. The mounting frame left rod 145 and the mounting frame right rod 146 of the mounting frame 140 of this example are telescopic. Therefore, the second mounting frame length 142 can be adjusted according to the shape of the blade root member.

[0077] In other examples, the installation framework can be according to any of the examples in this document.

[0078] In this example, the adjustment mechanism 180 movably connects the mounting frame 140 (e.g., the left rod 145 and the right rod 146) to the rotating connection member 170. The adjustment mechanism 180 and the rotating connection member 170 of this example can be according to any one of the examples disclosed herein. Therefore, the mounting frame 140 can rotate around the third direction 370.

[0079] The connecting joint 160 of this example includes a bracket 161 connected to the first rotating member of the rotating connector 170. The bracket 161 includes a pair of webs, each of which has a hole. A pin can be inserted through these holes to hinge the bracket 161 to the first arm left rod 115 and / or the first arm right rod 116 of the first arm 110. Therefore, the bracket of the connecting joint 160 can pivot around the second direction 360. The first arm left rod 115 of the first arm 110 extends from the distal end to the proximal end in parallel with the first arm right rod 116. In this example, the first arm left rod 115 and the first arm right rod 116 are substantially straight.

[0080] The multi-axis tool 100 of this example includes a link joint actuator 168 that pivots the mounting frame 140 relative to the first arm 110. The link joint actuator 168 may be a hydraulic actuator.

[0081] The connecting joint actuator 168 of the figure includes a connecting joint actuator proximal end connected to the first arm 110 and a connecting joint actuator distal end connected to the bracket 161. The connecting joint actuator 168 extends from the connecting joint actuator proximal end to the connecting joint actuator distal end. The connecting joint actuator is configured to change its length to cause the mounting frame 140 to rotate relative to the first arm 110 about the second direction 360 by a second angle.

[0082] In this example, the second angle may be between 0° and 176°, that is, the mounting frame 140 may rotate between 0° and 176°. For example, the mounting frame 140 may pivot between ±80° and ±88°, such as ±87°, relative to the first arm 110 about the second direction 360.

[0083] The first arm 110 is pivotally coupled to the first arm support 120 via the hinge 130 to pivot about the first direction 330. Therefore, the first arm 110 can pivot about the first direction 330 by a first angle. The first angle can be between 0° and 60°. Therefore, the first arm 110 can pivot at an angle between 0° and 60°. Or in other words, the first arm 110 can pivot ±30° relative to the first arm support 120.

[0084] In this figure, the first arm actuator 138 is operable to cause the first arm 110 to rotate relative to the first arm support 120. The first arm actuator 138 can be a hydraulic actuator. The first arm actuator 138 of this figure includes a first arm actuator proximal end connected to the first arm support 120 and a first arm actuator distal end connected to the first arm 110. The change in the length of the first arm actuator 138 causes the first arm 110 to pivot around the first direction 330.

[0085] The first arm support 120 extends from the first arm support distal end to the first arm support proximal end. The first arm support distal end is pivotally coupled to the first arm proximal end 111 through the hinge 130. The first arm support proximal end is pivotally coupled to the base 230 to pivot about a fourth direction 320 by a fourth angle. The fourth direction 320 is substantially parallel to the first direction 330.

[0086] The fourth angle may be between 0° and 60°, such as between 0° and 30°.Tilting the first arm support relative to the base 230 causes a lifting movement of the distal end of the first arm.

[0087] In this example, the first arm support actuator 128 causes the first arm support 120 to move relative to the base 230. The first arm support actuator 128 can be in accordance with any of the examples of actuators disclosed herein and can operate in accordance with any of the examples of actuators disclosed herein.

[0088] The first arm support 120 of this example includes a substantially curved or angled shape. The first arm support 120 extends from the first arm support distal end to the first arm support proximal end in a curved manner. The first arm support 120 may include a plurality of parallel rods. In this example, the first arm support 120 includes four parallel rods. In other examples, the first arm support may include any suitable number of parallel rods.

[0089] The base 230 of this example includes a platform and a plurality of support legs for supporting the platform. The base 230 may be configured according to any one of the examples disclosed herein, for example, to be transported by a transport unit. In addition, the multi-axis tool 100 of this example may include a controller and / or a power supply system according to any one of the examples disclosed herein.

[0090] Therefore, the multi-axis tool 100 according to this example includes four degrees of freedom. Controlling the second angle about the second direction 360, the first angle about the first direction 330, and the fourth angle about the fourth direction 320 allows the blade root component to be rotated and / or flipped to a desired position. For example, the blade root component can be rotated 180° to position the root side of the blade root component to face the blade root portion.

[0091] Figure 7 An example of an adjustment mechanism 180 according to an example of the present disclosure is shown. The adjustment mechanism 180 of this figure can be included in any of the examples of multi-axis tools disclosed herein.

[0092] The adjustment mechanism 180 includes an adjustment plate 182 that is fixedly connected to the second rotating member of the rotating connection 170 and movably connected to the mounting frame 140 .

[0093] The mounting frame 140 of this example includes a left bar 145 and a right bar 146. An upper crossbar 191 and a lower crossbar 192 connect the left bar 145 to the right bar 146. In this figure, the mounting frame further includes an adjustment fixture 190. The adjustment fixture 190 is rigidly connected to the lower crossbar 192 and the upper crossbar 191. In this figure, the adjustment fixture 190 includes a right beam 196 and a left beam 195 extending between the upper crossbar 191 and the lower crossbar 192. The right beam 196 and the left beam 195 include recesses.

[0094] In this example, the adjustment plate 182 includes a right extension 186 and a left extension 185. The right extension 186 of the adjustment plate 182 engages a recess of a right beam 196 of the mounting frame 140 and protrudes outwardly from the right beam 196. Similarly, the left extension 185 engages a recess of a left beam 195 and protrudes outwardly from the left beam 195.

[0095] The left beam 195 of this example further includes an upper sliding surface 291 and a lower sliding surface 292. The left extension 185 also includes an upper sliding surface 281 and a lower sliding surface 282. The upper sliding surface 291 of the mounting frame 140 is configured to slide relative to the upper sliding surface 281 of the adjustment mechanism 180. Similarly, the lower sliding surface 292 is configured to slide relative to the lower sliding surface 282.

[0096] In this figure, the right beam 196 also includes an upper sliding surface 291 and a lower sliding surface 292. The upper sliding surface 291 of the right beam 196 is configured to slide relative to the upper sliding surface 281 of the right extension 186 of the adjustment plate 182, and the lower sliding surface 292 of the right beam 196 is configured to slide relative to the lower sliding surface 282 of the right extension 186.

[0097] Therefore, the adjustment plate 182 of the adjustment mechanism 180 can slide relative to the adjustment fixture 190 of the mounting frame. The sliding surface is substantially parallel to the third direction 370. The adjustment plate 182 further includes a plurality of pins extending in a direction substantially parallel to the first adjustment direction 381. The pins of the adjustment plate 182 are inserted into guide grooves provided on the mounting frame 140 to limit the movement of the adjustment plate relative to the mounting frame.

[0098] The adjustment mechanism 180 of this example further includes a plurality of deformable elements to adjust misalignment of the plate 182 relative to the mounting frame 140. In this figure, the deformable elements are four springs. However, other types of deformable elements and different numbers of deformable elements may also be suitable.

[0099] Spring 181a connects the upper right portion of adjustment plate 182 to the upper portion of right beam 196 of adjustment fixture 190 of mounting frame 140. Spring 181b connects the lower right portion of adjustment plate 182 to the lower portion of right beam 196. It should be noted that since right beam 196 is not fully depicted, springs 181a and 181b are not shown in FIG. Figure 7 Visible in.

[0100] Similar to springs 181a and 181b, springs 181c and 181d respectively connect the upper portion of adjustment plate 182 to the upper portion of left beam 195 and the lower portion of adjustment plate 182 to the lower portion of left beam 195. Compression of springs 181a-d causes adjustment plate 182 to slide relative to mounting frame 140.

[0101] The degree of compression of each spring depends on the applied force. The applied force in each spring depends on the misalignment of the blade root member relative to the blade root portion. The misalignment of the blade root member relative to the blade root portion may generate an uneven pressure from the blade root portion towards the blade root member.

[0102] For example, when the blade root portion is aligned with the blade root portion, the uneven pressure from the blade root portion toward the blade root member can compress the spring 181a. The compression of the spring 181a causes the adjustment plate 182 to rotate around the first adjustment direction 381 and around the second adjustment direction 382. With the springs 181a and 181b compressed, the adjustment plate 182 will only rotate around the first adjustment direction 381.

[0103] The rotation of the adjustment plate 182 relative to the mounting frame 140 may be limited by guide slots and / or sliding surfaces. In this example, the mounting frame 140 may pivot ±5° around the first adjustment direction 381 and / or the second adjustment direction 382. The adjustment mechanism 180 provides fine adjustment of the position of the blade root component during assembly with the blade root portion.

[0104] Figure 8 is a block diagram of a method for handling and positioning a blade root component at a blade root portion of a wind turbine blade according to examples of the present disclosure. The method 500 may use a multi-axis tool according to any of the examples disclosed herein.

[0105] At block 510, the blade root member is releasably connected to a mounting frame of the multi-axis tool. According to any of the examples disclosed herein, the mounting frame may be releasably connected to the blade root member. A plurality of connectors (e.g., bolts) may be used to connect the mounting frame to the blade root member. For example, the mounting frame may be bolted to a reinforcement plate of the blade root member.

[0106] Releasably connecting the blade root member may include positioning the mounting frame to face the hub side of the blade root member. Depending on how the blade root member is transported or stored, the root side of the blade root member may be upward or downward. In some examples, the blade root member may be stored on a drop-off bench. In other examples, the blade root member may be stored in a pallet, such as a Euro pallet.

[0107] In some examples, when the blade root member is stored with the hub side facing upward, the mounting frame is moved toward the hub side.The mounting frame is then releasably connected to the blade root member, and the blade root member is lifted.

[0108] In other examples, when the blade root member is stored with the hub side down (i.e., facing the ground), the mounting frame may be positioned below the blade root member so as to face the hub side. Placing the blade root member on the stowage bench may provide a height between the ground and the blade root member to allow the mounting frame to be positioned below the blade root member.

[0109] After the mounting frame is connected to the blade root member, the blade root member can be lifted and moved toward the blade root member. The blade root member is moved from a substantially horizontal position (i.e., the connection position) in which the blade root member is stored to a substantially vertical position (i.e., the mounting position) to mount or attach the blade root member to the blade root portion.

[0110] Carrying and positioning the blade root component at the blade root portion includes: pivoting 520 the mounting frame about the second direction relative to the first arm of the tool by a second angle; pivoting 530 the first arm about the first direction relative to the first arm support of the tool by a first angle; and rotating 540 the mounting frame about the third direction by a third angle. The first direction is substantially parallel to the second direction and substantially perpendicular to the third direction.

[0111] The frames 520, 530, and 540 disclosed herein are not limited to a particular order. In some examples, the mounting frame may pivot relative to the first arm about the second direction, then the first arm may pivot relative to the first arm support about the first direction, and then the mounting frame may rotate about the third direction. In other examples, the first arm may pivot relative to the first arm support about the first direction, and then the mounting frame may pivot relative to the first arm.

[0112] According to any of the examples disclosed herein, the mounting frame may be pivoted a second angle. The second angle may be comprised between 0° and 180°, such as between 0° and 176°. Pivoting the mounting frame about the second direction may involve operating a connecting joint actuator.

[0113] According to any of the examples disclosed herein, the first arm may be pivotable by a first angle. The first angle may be between 0° and 60°. The first arm actuator may be operable to pivot the first arm relative to the first arm support.

[0114] In some examples, the method further includes pivoting the first arm support relative to the base of the support tool. The first arm support may pivot about a fourth direction by a fourth angle. The fourth direction is substantially parallel to the first direction. The fourth angle may be between 0° and 60°. The first arm support actuator may be operable to cause movement of the first arm support relative to the base.

[0115] In other examples, the first arm support can be raised and lowered, for example, according to Figure 5a-5c Instance of .

[0116] In some examples, the method 500 includes flipping the blade root member when the blade root member is releasably connected to the mounting frame. According to any of the examples disclosed herein, pivoting the mounting frame and / or the first arm and / or the first arm support may involve flipping the blade root member. The blade root member may thus be rotated 180°, i.e., from a position where the root side faces the ground to a position where the hub side faces the ground.

[0117] According to any of the examples disclosed herein, the rotary actuator is operable to rotate a first rotary member of a rotary connector of a rotary connector assembly. The mounting frame and thus the blade root member can be rotated clockwise or counterclockwise about a third direction. The rotation allows the blade root member to engage the end portion of the blade root portion. For example, the blade root member can be rotated so that the connection hole of the blade root member coincides with the connection hole of the blade root portion. Then, fasteners can be inserted through these holes to secure the blade root member to the blade root portion.

[0118] The mounting frame may extend a first mounting frame length along a first mounting frame direction and extend a second mounting frame length along a second mounting frame direction. The multi-axis tool may include an adjustment mechanism according to any of the examples disclosed herein. In these examples, method 500 includes adjusting the position of the mounting frame about a first adjustment direction and / or a second adjustment direction. The first adjustment direction is substantially parallel to the first mounting frame direction, and the second adjustment direction is substantially parallel to the second mounting frame direction.

[0119] In some examples, adjusting the position of the mounting frame about the first adjustment direction and / or the second adjustment direction includes placing the blade root member in contact with the root end surface of the blade root portion. The mounting frame may press the blade root member against the blade root portion. If the blade root member is misaligned, the deformable element of the adjustment mechanism is deformed to adapt the position of the blade root member to the blade root portion. Positioning of the blade root member at the blade root portion may thus be performed accurately. Attaching the blade root member to the blade root portion may thus be performed more easily.

[0120] This written description uses examples to disclose the present invention, including preferred embodiments, and also enables those skilled in the art to practice the present invention, including making and using any device or system and performing any combined method. The patentable scope of the present invention is defined by the claims and may include other examples that occur to those skilled in the art. If such other examples have structural elements that are not different from the written language of the claims, or if they include equivalent structural elements that are not substantially different from the written language of the claims, it is expected that such other examples are within the scope of the claims. Aspects from the various embodiments described and other known equivalents of each such aspect can be mixed and matched by those skilled in the art to constitute additional embodiments and techniques according to the principles of the present application. If reference marks related to the drawings are placed in brackets in the claims, they are only used to attempt to increase the understandability of the claims and should not be interpreted as limiting the scope of the claims.

Claims

1. A multi-axis tool (100) for handling and positioning a blade root component (200) at a blade root portion (50) of a wind turbine blade (7) for mounting the blade root component (200) at the blade root portion (50), the tool (100) comprising: A first arm (110) extending from a first arm proximal end (111) to a first arm distal end (112) along a first arm direction (310); a first arm support (120) pivotally coupled to the first arm proximal end (111), wherein the first arm (110) is configured to pivot about a first direction (330) by a first angle, and wherein the first direction (330) is substantially perpendicular to the first arm direction (310); a mounting frame (140) configured to be releasably connected to the blade root member (200), the mounting frame (140) extending a first mounting frame length (141) in a first mounting frame direction (341) and a second mounting frame length (142) in a second mounting frame direction (342); A connection assembly (150) for connecting the first arm distal end (112) to the mounting frame (140), wherein the connection assembly comprises: a connecting joint (160) for pivoting the mounting frame (140) relative to the first arm (110) by a second angle about a second direction (360), wherein the second direction (360) is substantially parallel to the first direction (330); and a swivel connection (170) rotatably coupling the first arm distal end (112) to the mounting frame (140), wherein the mounting frame (140) is configured to rotate about a third direction (370), wherein the third direction (370) is substantially perpendicular to the first mounting frame direction (341) and the second mounting frame direction (342); and The tool (100) is configured to rotate and / or flip the blade root component (200) when the blade root component (200) is connected to the mounting frame (140).

2. The tool (100) according to claim 1, turning over the blade root component (200) comprises rotating 180° around a component rotation direction, the component rotation direction being substantially parallel to the second direction 360.

3. A tool (100) according to any one of claims 1 to 2, wherein the connecting assembly (150) includes an adjustment mechanism (180) to adjust the position of the mounting frame (140) relative to the first arm (110) around a first adjustment direction (381) substantially parallel to the first mounting frame direction (341) and / or a second adjustment direction (382) substantially parallel to the second mounting frame direction (342).

4. The tool (100) according to claim 3, wherein the adjustment mechanism (180) includes one or more deformable elements (181, 181a, 181b, 181c, 181d) arranged between the rotating connection (170) and the mounting frame (140).

5. The tool (100) according to claim 4, wherein the adjustment mechanism (180) comprises: an adjustment plate (182) rigidly connected to the rotational connection (170) and movably connected to the mounting frame (140); wherein the one or more deformable elements (181, 181a, 181b, 181c, 181d) connect the adjustment plate (182) to the mounting frame (140); and The one or more deformable elements (181, 181a, 181b, 181c, 181d) are configured to deform under a predetermined pressure in a manner so as to adjust the position of the mounting frame (140) relative to the adjustment plate (182).

6. The tool (100) according to any one of claims 1 to 5, further comprising: a first arm actuator (138) for pivoting the first arm (110) relative to the first arm support (120); and A connecting joint actuator (168) pivots the mounting frame (140) relative to the first arm (110).

7. The tool (100) of claim 6, wherein the first arm actuator (138) and / or the connecting joint actuator (168) are hydraulic actuators.

8. The tool (100) according to any one of claims 1 to 7, further comprising: Base (230); as well as A post (240, 245, 246) extends from the base (230), wherein the first arm support (120) is slidably connected to the post (240, 245, 246), and wherein the first arm support (120) is configured to move upward and downward relative to the base (230).

9. The tool (100) according to any one of claims 1 to 7, further comprising: Base (230); wherein the first arm support (120) extends from a first arm support distal end to a first arm support proximal end, wherein the first arm support distal end is pivotally coupled to the first arm proximal end (111); and The first arm support is pivotally connected to the base (230) at a proximal end to pivot about a fourth direction (320) at a fourth angle, wherein the fourth direction (320) is substantially parallel to the first direction (330).

10. The tool (100) according to any one of claims 8 to 9, wherein the base (230) is configured to be moved by a transport unit (250).

11. The tool (100) according to any one of claims 1 to 10, further comprising a power supply system for supplying power to the tool.

12. The tool (100) according to any one of claims 1 to 11, wherein the blade root component (200) comprises a diaphragm, a blade root flange (210) and / or a blade root reinforcement (220).

13. A method (500) for handling and positioning a blade root component (200) at a blade root portion (50) of a wind turbine blade (7) for installing the blade root component (200) at the blade root portion (50), the method (500) comprising: releasably connecting (510) the blade root member (200) to a mounting frame (140) of a multi-axis tool (100); Pivoting (520) the mounting frame (140) about a second direction (360) and relative to the first arm (110) of the tool (100) by a second angle; pivoting (530) the first arm (110) by a first angle relative to a first arm support (120) of the tool (100) about a first direction (330), the second direction (360) being substantially parallel to the first direction (330); and The mounting frame (140) is rotated (540) by a third angle about a third direction (370), the third direction (370) being substantially perpendicular to the second direction (360).

14. A method (500) according to claim 13, wherein the mounting frame (140) extends a first mounting frame length (141) along a first mounting frame direction (341) and extends a second mounting frame length (142) along a second mounting frame direction (342); and wherein the method (500) further includes adjusting the position of the mounting frame (140) around a first adjustment direction and / or a second adjustment direction, the first adjustment direction (381) being substantially parallel to the first mounting frame direction (341), and the second adjustment direction (382) being substantially parallel to the second mounting frame direction (342).

15. The method (500) according to any one of claims 13 to 14, further comprising flipping the blade root member (200) when the blade root member (200) is releasably connected to the mounting frame (140).

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